| 基于图像视觉伺服的AGV动力学控制 |
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| 引用本文： | 李惠光,张占领,邵暖,王建龙. 基于图像视觉伺服的AGV动力学控制[J]. 控制工程, 2012, 19(1): 56-59 |
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| 作者姓名： | 李惠光 张占领 邵暖 王建龙 |
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| 作者单位： | 燕山大学工业计算机控制工程河北省重点实验室,河北秦皇岛,066004 |
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| 摘 要： | 针对具有非完整约束AGV点镇定控制问题,提出一种新的基于图像视觉伺服控制算法.采用眼在手上视觉伺服模型,利用图像视觉伺服原理,基于图像误差设计了AGV视觉控制器,求得AGV广义控制速度；然后根据非完整约束特点的AGV运动学和动力学模型,利用计算力矩法设计了AGV动力学控制器,由广义控制速度计算出AGV控制力矩；从而实现了基于图像误差AGV力矩控制.并利用Matlab和Simulink进行了仿真,仿真结果表明了控制方法的有效性和可行性.最后利用Reinovo型AGV进行了实验,表明该方法具有很好的实用性.
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| 关 键 词： | 点镇定控制 视觉伺服 图像误差 AGV动力学模型 |
Image-Based Visual Servo Control Based on Dynamic Model of an AGV |
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| LI Hui-guang , ZHANG Zhan-ling , SHAO Nuan , WANG Jian-long. Image-Based Visual Servo Control Based on Dynamic Model of an AGV[J]. Control Engineering of China, 2012, 19(1): 56-59 |
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| Authors: | LI Hui-guang ZHANG Zhan-ling SHAO Nuan WANG Jian-long |
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| Affiliation: | (Key Lab of Industrial Computer Contol Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China) |
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| Abstract: | A new method is introduced to sovle the Point Stabilization control of Non-holonomic AGV.Apply eye-in-hand visual servo model,a vision controller designed using visual servo theory based image pixel error.Andthen Generalized control speed can be obtained.Dynamics controller is desined According to AGV dynamic model based on the computed torque method,then the control torque calculated by it from Generalized control speed.Later,Matlab and Simulink is used for simulation.The results demonstrate the algorithm’s effectiveness and feasibility.Finally,experiment is made using Reinovo AGV,and the result demonstrate the practical of the method. |
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| Keywords: | point stabilization visual servo image pixel error AGV dynamic model |
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